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View the figure from a slight elevation and refine the leg-machine rollers

Browse Source 
The default camera pitches down 10 degrees, so the floor reads as a
plane (drawn as a rectangle) and near/far contacts straddle it.
Elevation is pure presentation - IK pins solve in the flat authored
view and the posed body tilts, the same pattern as the orbit, so
authored canvas targets never go out of reach. The leg-extension
roller moves up onto the shin above the ankle and the leg-curl roller
tucks under the heel. Fixtures and reference test values regenerated
for the pitched camera.

Claude-Session: https://claude.ai/code/session_01LEoff8bXGBS83tK1c55Mf7
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rzen
2026-07-06 21:20:07 -04:00
parent 5e4980f0d7
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CHANGELOG.md
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**July 2026**
Form guides are now viewed from a slight elevation, with the floor drawn as a plane the figure stands on.
The stick figure now has broader, more human proportions with a visible shoulder girdle and pelvis.
The Leg Extension and Leg Curl form guides now press against a roller pad at the ankle, like the real machines.
Exercise Library/Abdominal/frames/frame-1.svg
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Exercise Library/SYSTEM.md
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@@ -79,6 +79,11 @@ never touches a motion script** — proportions are the skeleton's problem.
proportions. Face-on machines (abductor/adductor, rotary torso) author
genuine abduction or spine rotation and let projection do the rest. The
camera can also orbit while the motion loops (`--orbit`).
- **Elevation** — the default viewpoint pitches down 10° (`CAMERA_PITCH`;
override per motion via `"camera": {"pitch": ...}`), so the floor reads as
a plane — drawn as a rectangle — and near/far contacts straddle it.
Elevation is pure presentation: pins solve in the flat authored view and
the *posed* body tilts, so authored canvas targets never go out of reach.
- **Feet** — each leg ends in a foot bone off the ankle. Dorsiflexion 0 keeps
the foot perpendicular to the shin (right for standing, seated machines,
planks); kneeling poses trail it back (−55), raises point it.
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Exercise Library/kinematics.py
+10 -7
View File
@@ -231,12 +231,15 @@ def fk_limb(kind, attach, joint, lower, ankle, prof, parent, sigma):
return [attach, knee, ank, toe]
def pose(nf, prof, cam_yaw):
def pose(nf, prof, cam_yaw, cam_pitch=0.0):
"""FK a normalized frame into view space (x right, y up, z toward the
camera; origin at the root anchor). Returns points, parent frames (for
IK inversion), the nose direction, and the lateral depth factor k."""
camera; origin at the root anchor). `cam_pitch` tilts the viewpoint down
from slightly above (the scene rotates about the root). Returns points,
parent frames (for IK inversion), the nose direction, and the lateral
depth factor k."""
r = nf["root"]
f_root = chain(rot_y(-cam_yaw), rot_y(r["yaw"]), rot_z(-r["pitch"]), rot_x(r["roll"]))
f_root = chain(rot_x(cam_pitch), rot_y(-cam_yaw),
rot_y(r["yaw"]), rot_z(-r["pitch"]), rot_x(r["roll"]))
origin = (0.0, 0.0, 0.0)
s1, s2 = nf["spine"]
@@ -328,12 +331,12 @@ def view_from_canvas(pt, anchor, depth):
return (pt[0] - anchor[0], anchor[1] - pt[1], depth)
def resolve(nf, prof, cam_yaw):
def resolve(nf, prof, cam_yaw, cam_pitch=0.0):
"""Pose a normalized frame and apply pins: for each pinned limb, solve IK
against the canvas target (at the limb's FK depth), write the solved
anatomical angles back into the frame, and re-pose. Returns
(frame with IK-resolved angles, pose dict)."""
p = pose(nf, prof, cam_yaw)
p = pose(nf, prof, cam_yaw, cam_pitch)
anchor = nf["root"]["pos"]
solved = False
for limb, (attach_key, sigma, pin) in LIMBS.items():
@@ -356,7 +359,7 @@ def resolve(nf, prof, cam_yaw):
nf["hip_" + side], nf["knee_" + side] = upper, lower
solved = True
if solved:
p = pose(nf, prof, cam_yaw)
p = pose(nf, prof, cam_yaw, cam_pitch)
return nf, p

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